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<h1>Référence du fichier src/imu.h</h1>  </div>
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<p><a href="imu_8h_source.html">Aller au code source de ce fichier.</a></p>
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<tr><td colspan="2"><h2><a name="nested-classes"></a>
Structures de données</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_i_m_u___a_n_g_l_e_s___v_i_t_e_s_s_e_s.html">IMU_ANGLES_VITESSES</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Structure contenant les angles d'Euler et les vitesses angulaires mesurés par la centrale.  <a href="struct_i_m_u___a_n_g_l_e_s___v_i_t_e_s_s_e_s.html#_details">Plus de détails...</a><br/></td></tr>
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Macros</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="imu_8h.html#a0ad587305d1e50ecc364037dee570ca8">LG_IMU_ANGLES_VITESSES</a>&#160;&#160;&#160;31</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Longueur d'une trame d'angles.  <a href="#a0ad587305d1e50ecc364037dee570ca8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="imu_8h.html#afb4ebd47bea9dfbcecd206cab11a1bf1">CMD_IMU_ANGLES_VITESSES</a>&#160;&#160;&#160;0xCF</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Commande permettant de récupérer les angles d'Euler et les vitesses angulaires.  <a href="#afb4ebd47bea9dfbcecd206cab11a1bf1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="imu_8h.html#a8c7d78c48e209a58685d8398478dc956">CMD_IMU_MODE_CONTINU</a>&#160;&#160;&#160;0xC4</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Commande de passage en mode continu.  <a href="#a8c7d78c48e209a58685d8398478dc956"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="imu_8h.html#a67e80ee7226a0a226c308b970bcc4182">CMD_IMU_MODE_CONTINU_CONF1</a>&#160;&#160;&#160;0xC1</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Premier octet de confirmation de passage en mode continu.  <a href="#a67e80ee7226a0a226c308b970bcc4182"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="imu_8h.html#a62ce8783fe0b603d733be69972c7bce4">CMD_IMU_MODE_CONTINU_CONF2</a>&#160;&#160;&#160;0x29</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Second octet de confirmation.  <a href="#a62ce8783fe0b603d733be69972c7bce4"></a><br/></td></tr>
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Fonctions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="imu_8h.html#a2874e868e54ebbcecbc8fc22ab0e8dac">imuContinuousMode</a> (char commandByte)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Met l'IMU en mode d'émission continue.  <a href="#a2874e868e54ebbcecbc8fc22ab0e8dac"></a><br/></td></tr>
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Variables</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">volatile <a class="el" href="struct_i_m_u___a_n_g_l_e_s___v_i_t_e_s_s_e_s.html">IMU_ANGLES_VITESSES</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="imu_8h.html#a1cdf2ec6dff64089373e3df2eee1da41">angles</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Structure contenant les angles de la centrale inertielle.  <a href="#a1cdf2ec6dff64089373e3df2eee1da41"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">volatile unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="imu_8h.html#ad0cb47b4f41eb0a0dd57ce7a74766207">anglesMAJ</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag de mise à jour des angles de la centrale inertielle.  <a href="#ad0cb47b4f41eb0a0dd57ce7a74766207"></a><br/></td></tr>
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<hr/><h2>Documentation des macros</h2>
<a class="anchor" id="afb4ebd47bea9dfbcecd206cab11a1bf1"></a><!-- doxytag: member="imu.h::CMD_IMU_ANGLES_VITESSES" ref="afb4ebd47bea9dfbcecd206cab11a1bf1" args="" -->
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          <td class="memname">#define CMD_IMU_ANGLES_VITESSES&#160;&#160;&#160;0xCF</td>
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<p>Commande permettant de récupérer les angles d'Euler et les vitesses angulaires. </p>

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<a class="anchor" id="a8c7d78c48e209a58685d8398478dc956"></a><!-- doxytag: member="imu.h::CMD_IMU_MODE_CONTINU" ref="a8c7d78c48e209a58685d8398478dc956" args="" -->
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          <td class="memname">#define CMD_IMU_MODE_CONTINU&#160;&#160;&#160;0xC4</td>
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<p>Commande de passage en mode continu. </p>
<p>Pour passer en mode continu, il est nécessaire d'envoyer à la centrale une séquence de 4 octets définie comme suit : 0xC4 0xC1 0x29 &lt;cmd&gt; avec cmd l'octet désignant la commande à répéter </p>
<dl class="see"><dt><b>Voir également:</b></dt><dd><a class="el" href="imu_8h.html#a2874e868e54ebbcecbc8fc22ab0e8dac" title="Met l&#39;IMU en mode d&#39;émission continue.">imuContinuousMode</a> </dd></dl>

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<a class="anchor" id="a67e80ee7226a0a226c308b970bcc4182"></a><!-- doxytag: member="imu.h::CMD_IMU_MODE_CONTINU_CONF1" ref="a67e80ee7226a0a226c308b970bcc4182" args="" -->
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          <td class="memname">#define CMD_IMU_MODE_CONTINU_CONF1&#160;&#160;&#160;0xC1</td>
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<p>Premier octet de confirmation de passage en mode continu. </p>

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<a class="anchor" id="a62ce8783fe0b603d733be69972c7bce4"></a><!-- doxytag: member="imu.h::CMD_IMU_MODE_CONTINU_CONF2" ref="a62ce8783fe0b603d733be69972c7bce4" args="" -->
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          <td class="memname">#define CMD_IMU_MODE_CONTINU_CONF2&#160;&#160;&#160;0x29</td>
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<p>Second octet de confirmation. </p>

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<a class="anchor" id="a0ad587305d1e50ecc364037dee570ca8"></a><!-- doxytag: member="imu.h::LG_IMU_ANGLES_VITESSES" ref="a0ad587305d1e50ecc364037dee570ca8" args="" -->
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          <td class="memname">#define LG_IMU_ANGLES_VITESSES&#160;&#160;&#160;31</td>
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<p>Longueur d'une trame d'angles. </p>

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<hr/><h2>Documentation des fonctions</h2>
<a class="anchor" id="a2874e868e54ebbcecbc8fc22ab0e8dac"></a><!-- doxytag: member="imu.h::imuContinuousMode" ref="a2874e868e54ebbcecbc8fc22ab0e8dac" args="(char commandByte)" -->
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          <td class="memname">void imuContinuousMode </td>
          <td>(</td>
          <td class="paramtype">char&#160;</td>
          <td class="paramname"> <em>commandByte</em>&#160;)</td>
          <td></td>
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<p>Met l'IMU en mode d'émission continue. </p>
<p>Cette fonction met l'IMU en mode émission continue, avec la commande passée en paramètre </p>
<dl><dt><b>Paramètres:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">commandByte</td><td>la commande à répéter </td></tr>
  </table>
  </dd>
</dl>

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<hr/><h2>Documentation des variables</h2>
<a class="anchor" id="a1cdf2ec6dff64089373e3df2eee1da41"></a><!-- doxytag: member="imu.h::angles" ref="a1cdf2ec6dff64089373e3df2eee1da41" args="" -->
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          <td class="memname">volatile <a class="el" href="struct_i_m_u___a_n_g_l_e_s___v_i_t_e_s_s_e_s.html">IMU_ANGLES_VITESSES</a> <a class="el" href="imu_8h.html#a1cdf2ec6dff64089373e3df2eee1da41">angles</a></td>
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<p>Structure contenant les angles de la centrale inertielle. </p>

</div>
</div>
<a class="anchor" id="ad0cb47b4f41eb0a0dd57ce7a74766207"></a><!-- doxytag: member="imu.h::anglesMAJ" ref="ad0cb47b4f41eb0a0dd57ce7a74766207" args="" -->
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          <td class="memname">volatile unsigned char <a class="el" href="imu_8h.html#ad0cb47b4f41eb0a0dd57ce7a74766207">anglesMAJ</a></td>
        </tr>
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<p>Flag de mise à jour des angles de la centrale inertielle. </p>
<p>Il est mis à 1 lorsqu'une trame complète est reçue </p>

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<hr class="footer"/><address class="footer"><small>Généré le Wed Jan 5 2011 17:04:29 pour Carte mère par&#160;
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